/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RW_GEOMETRY_BVCOLLIDER_HPP_
#define RW_GEOMETRY_BVCOLLIDER_HPP_

#if !defined(SWIG)
#include <rw/math/Transform3D.hpp>
#endif 
namespace rw { namespace geometry {

    /**
     * @brief abstract class describing interface of a bounding volume collision
     * detector. The inheritance is template based to reduce virtual method overhead
     */
    template< class COLLIDER, class BVTYPE > class BVCollider
    {
      public:
        typedef BVTYPE BVType;
        typedef typename BVTYPE::value_type value_type;

        //! constructor
        BVCollider (){};

        //! destructor
        virtual ~BVCollider (){};

        /**
         * @brief test if two bounding volumes are colliding
         * @param bvA [in] bounding volume A
         * @param bvB [in] bounding volume B
         * @param aTb [in] transform from bvA to bvB
         * @return true if in collision
         */
        inline bool inCollision (const BVTYPE& bvA, const BVTYPE& bvB,
                                 const rw::math::Transform3D< value_type >& aTb)
        {
            return static_cast< COLLIDER* > (this)->collides (bvA, bvB, aTb);
        }
    };

}}    // namespace rw::geometry

#endif /* BVCOLLIDER_HPP_ */
